Skip to content

Insert in Trajectory (Preselect Position)

In one sentence: Add the position currently highlighted under the cursor in the 3-D view as a new trajectory waypoint, without moving the robot first.

Overview

Workbench: Robot
Menu: Robot → Insert in Trajectory
Shortcut: W (when robot and trajectory are selected)

Deprecated workbench

The Robot workbench is deprecated as of FreeCAD 1.0.

Inserts the current mouse-preselected position (the point on geometry highlighted as the cursor hovers over it) directly into the trajectory. The robot does not need to be jogged to the position first.

Intuition

Instead of manually setting joint angles to reach a point, you just hover over the target point on a surface in the 3-D view and press W. The point under your cursor is recorded as a waypoint immediately.

When to use it

  • Creating trajectories by clicking directly on target surfaces without manually jogging the robot.
  • Quickly recording a series of points on a part surface for a spray, weld, or inspection path.

Step-by-step

  1. Select one Robot::RobotObject and one Robot::TrajectoryObject.
  2. Hover the cursor over the target point on a geometry surface.
  3. Press W (or choose Robot → Insert in Trajectory while hovering).
  4. The preselected position is recorded as a waypoint.

See also